WALKING ASSIST DEVICE

摘要

Provided is a walking assist device independent of a deviation of a bending/stretching state between user's legs and applying a force to a user in a direction intended by the user. The walking assist device performs control so that the larger the deviation of a value of a bending/stretching state variable representing the bending/stretching state of each of a pair of right and left legs of a user P is, the larger the deviation between the assist forces Fr and Fl acting on the user P from each of the leg links 2 is.

主权项

1. A walking assist device comprising:
a seating portion on which a user sits; a pair of right and left leg links which are adapted to be fixed to respective predetermined positions of right and left legs of the user and swingably connected to the seating portion in conjunction with motions of the legs; actuators which transmit driving forces to the leg links to cause assist forces to act on the user from the leg links, respectively, through the seating portion; and a control unit which controls the driving forces of the actuators, wherein the control unit performs the control so that larger a deviation of a value of a bending/stretching state variable representing a bending/stretching state of each of the legs therebetween is, larger a deviation between the assist forces acting on the user from each of the leg links is.